Hugging Face's logo

Datasets:
HorizonRobotics
/
EmbodiedGenData

Modalities:
3D
Image
Tabular
Formats:
csv
Size:
1K - 10K
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
2
xinjjj commited on
Commit
b5be9f9
·
verified ·
1 Parent(s): 9120bb6

Add asset bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca

Browse files
Files changed (4) hide show
  1. .gitattributes +1 -0
  2. dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/affordance_annot.json +416 -0
  3. dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/mesh_part_seg.glb +3 -0
  4. dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/razor_032.urdf +1 -0
.gitattributes CHANGED
@@ -5726,3 +5726,4 @@ dataset/bathroom_supplies/personal_care/05e217d2d0f85cf7b13a2139d7c387ac/afforda
5726
  dataset/bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5727
  dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5728
  dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
5726
  dataset/bathroom_supplies/personal_care/05faa10a90065fe084575a58e4d5e84a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5727
  dataset/bathroom_supplies/personal_care/067f4ee1b77a5642acdb321bb23ca400/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5728
  dataset/bathroom_supplies/personal_care/0688ba311ae6558dbaf9921505b4e31d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
5729
+ dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/affordance_annot.json ADDED
@@ -0,0 +1,416 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "razor handle",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and hold the razor during shaving",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "grasp the handle to orient the shaver head against a face surface",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to place the razor into storage or onto a charger",
18
+ "confidence": 0.88
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary grip",
23
+ "support the razor body",
24
+ "enable aiming and orientation",
25
+ "stabilize during shaving",
26
+ "transfer hand or robot motion to the head"
27
+ ],
28
+ "semantic_description": "Long black plastic handle with a glossy central front panel and matte gray sides, hard smooth surfaces, an ergonomic tapered shape, and a medium-sized body extending below the shaving head.",
29
+ "id": 2,
30
+ "grasp_group": {
31
+ "grasp_4": {
32
+ "confidence": 0.9893955588340759,
33
+ "position": [
34
+ 0.01696052122861147,
35
+ -0.036728162158397026,
36
+ -0.09436562587507069
37
+ ],
38
+ "orientation": {
39
+ "w": 0.7034159041219361,
40
+ "xyz": [
41
+ -0.1659627024237771,
42
+ -0.08811256246702537,
43
+ -0.6854915196908059
44
+ ]
45
+ }
46
+ },
47
+ "grasp_8": {
48
+ "confidence": 0.9886016249656677,
49
+ "position": [
50
+ 0.011073247529566288,
51
+ -0.03143342382099945,
52
+ -0.09824345936067402
53
+ ],
54
+ "orientation": {
55
+ "w": 0.6910607764062252,
56
+ "xyz": [
57
+ -0.15966658091870914,
58
+ -0.04639458277454267,
59
+ -0.7034124884729656
60
+ ]
61
+ }
62
+ },
63
+ "grasp_9": {
64
+ "confidence": 0.988465428352356,
65
+ "position": [
66
+ 0.03805054072290659,
67
+ 0.08594815821561497,
68
+ 0.04748207773081958
69
+ ],
70
+ "orientation": {
71
+ "w": 0.3885880551503941,
72
+ "xyz": [
73
+ 0.6352139838993496,
74
+ -0.593048582288254,
75
+ 0.3062611583257715
76
+ ]
77
+ }
78
+ },
79
+ "grasp_10": {
80
+ "confidence": 0.9883859157562256,
81
+ "position": [
82
+ 0.00873639527708292,
83
+ 0.011951929118367843,
84
+ -0.10265058954246342
85
+ ],
86
+ "orientation": {
87
+ "w": 0.6718341401399438,
88
+ "xyz": [
89
+ 0.10038696713652846,
90
+ 0.028661560765462113,
91
+ 0.7333074797832355
92
+ ]
93
+ }
94
+ },
95
+ "grasp_15": {
96
+ "confidence": 0.9877532124519348,
97
+ "position": [
98
+ 0.055806138552725315,
99
+ 0.0034353841765550897,
100
+ 0.09172710846178234
101
+ ],
102
+ "orientation": {
103
+ "w": 0.10245546647178579,
104
+ "xyz": [
105
+ 0.6966891396632194,
106
+ -0.7055555248790214,
107
+ -0.07948912742042309
108
+ ]
109
+ }
110
+ },
111
+ "grasp_16": {
112
+ "confidence": 0.9877034425735474,
113
+ "position": [
114
+ 0.025058207102119923,
115
+ 0.1020708197465865,
116
+ -0.0028133231680840254
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5267128097167999,
120
+ "xyz": [
121
+ 0.5425100791927189,
122
+ -0.4626510760197453,
123
+ 0.46282870688011174
124
+ ]
125
+ }
126
+ },
127
+ "grasp_18": {
128
+ "confidence": 0.987256646156311,
129
+ "position": [
130
+ 0.041946967132389545,
131
+ -0.09606691061344463,
132
+ 0.017068147426471114
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4805876649660743,
136
+ "xyz": [
137
+ -0.5563564221073076,
138
+ -0.558529030097597,
139
+ -0.38412022909585153
140
+ ]
141
+ }
142
+ },
143
+ "grasp_19": {
144
+ "confidence": 0.9870284795761108,
145
+ "position": [
146
+ 0.02788278181105852,
147
+ 0.0844665059557883,
148
+ 0.05019624228589237
149
+ ],
150
+ "orientation": {
151
+ "w": 0.3823883406393944,
152
+ "xyz": [
153
+ 0.6498074276304004,
154
+ -0.5824690613591175,
155
+ 0.3037420887839567
156
+ ]
157
+ }
158
+ }
159
+ }
160
+ },
161
+ {
162
+ "part_name": "shaver head",
163
+ "mask_color": "Lime Green",
164
+ "graspable": true,
165
+ "grasp_scenarios": [
166
+ {
167
+ "scenario": "delicately grasp the shaver head to reorient the razor during inspection or packaging",
168
+ "confidence": 0.31
169
+ },
170
+ {
171
+ "scenario": "hold the head lightly to stabilize the razor while the handle is manipulated",
172
+ "confidence": 0.27
173
+ }
174
+ ],
175
+ "functional_labels": [
176
+ "shave facial hair",
177
+ "house rotary cutters",
178
+ "contact the skin",
179
+ "follow face contours",
180
+ "define the working end"
181
+ ],
182
+ "semantic_description": "Compact dark gray and silver plastic-and-metal rotary head with three circular foil cutters, a slightly reflective finish, hard smooth surfaces, and a rounded triangular form mounted at the top of the handle.",
183
+ "id": 9,
184
+ "grasp_group": {
185
+ "grasp_20": {
186
+ "confidence": 0.9484512209892273,
187
+ "position": [
188
+ -0.07744819577783346,
189
+ -0.09253596125927288,
190
+ 0.025471756933256984
191
+ ],
192
+ "orientation": {
193
+ "w": 0.37848160081678245,
194
+ "xyz": [
195
+ -0.7012667549761269,
196
+ -0.3193397498653372,
197
+ -0.5128340280874143
198
+ ]
199
+ }
200
+ },
201
+ "grasp_21": {
202
+ "confidence": 0.9484038949012756,
203
+ "position": [
204
+ 0.04767869133502245,
205
+ -0.017820436347392388,
206
+ 0.08380146394483745
207
+ ],
208
+ "orientation": {
209
+ "w": 0.18496236223570284,
210
+ "xyz": [
211
+ 0.6663903341501045,
212
+ -0.6553209264728539,
213
+ -0.30375537926802293
214
+ ]
215
+ }
216
+ },
217
+ "grasp_22": {
218
+ "confidence": 0.9479870200157166,
219
+ "position": [
220
+ -0.11255114432424307,
221
+ -0.05663248508062679,
222
+ 0.02470642956905067
223
+ ],
224
+ "orientation": {
225
+ "w": 0.6006709655346286,
226
+ "xyz": [
227
+ -0.1657895257911871,
228
+ 0.7526824536250236,
229
+ 0.2125496372771426
230
+ ]
231
+ }
232
+ },
233
+ "grasp_23": {
234
+ "confidence": 0.9479587078094482,
235
+ "position": [
236
+ -0.07562470342963934,
237
+ -0.09245174734678585,
238
+ 0.021138160256668925
239
+ ],
240
+ "orientation": {
241
+ "w": 0.5345055067701118,
242
+ "xyz": [
243
+ -0.3353516886793182,
244
+ 0.6762439421624454,
245
+ 0.38018053451084466
246
+ ]
247
+ }
248
+ },
249
+ "grasp_24": {
250
+ "confidence": 0.9436005353927612,
251
+ "position": [
252
+ -0.11939759459346533,
253
+ -0.039721131164697,
254
+ 0.031863272888585925
255
+ ],
256
+ "orientation": {
257
+ "w": 0.12214252596150556,
258
+ "xyz": [
259
+ -0.7831860168629812,
260
+ -0.11740136573769311,
261
+ -0.5982623050677397
262
+ ]
263
+ }
264
+ },
265
+ "grasp_26": {
266
+ "confidence": 0.9419848918914795,
267
+ "position": [
268
+ -0.08009386714547873,
269
+ -0.08225228248920757,
270
+ 0.04357668827287853
271
+ ],
272
+ "orientation": {
273
+ "w": 0.2597053715899358,
274
+ "xyz": [
275
+ -0.7185220457988959,
276
+ -0.4116956822530372,
277
+ -0.4967754572062811
278
+ ]
279
+ }
280
+ },
281
+ "grasp_27": {
282
+ "confidence": 0.9417136311531067,
283
+ "position": [
284
+ -0.08771434333175421,
285
+ -0.07864379494276363,
286
+ 0.045326054794713855
287
+ ],
288
+ "orientation": {
289
+ "w": 0.49800469932787833,
290
+ "xyz": [
291
+ -0.29688269283906676,
292
+ 0.7694733154516247,
293
+ 0.26788580206472024
294
+ ]
295
+ }
296
+ },
297
+ "grasp_29": {
298
+ "confidence": 0.939454197883606,
299
+ "position": [
300
+ -0.11544098611921072,
301
+ -0.048818189490702935,
302
+ 0.018621981842443347
303
+ ],
304
+ "orientation": {
305
+ "w": 0.6188607003976565,
306
+ "xyz": [
307
+ -0.13638985526380795,
308
+ 0.7408248443717715,
309
+ 0.22268316246627115
310
+ ]
311
+ }
312
+ },
313
+ "grasp_31": {
314
+ "confidence": 0.9353709816932678,
315
+ "position": [
316
+ -0.06893052812665701,
317
+ -0.08821970580902416,
318
+ 0.043601979268714786
319
+ ],
320
+ "orientation": {
321
+ "w": 0.46555370094281506,
322
+ "xyz": [
323
+ -0.40647034334327875,
324
+ 0.7224755104573455,
325
+ 0.30995281626441606
326
+ ]
327
+ }
328
+ },
329
+ "grasp_32": {
330
+ "confidence": 0.9346898794174194,
331
+ "position": [
332
+ -0.11577509995549917,
333
+ -0.05438804610457737,
334
+ 0.020359790651127696
335
+ ],
336
+ "orientation": {
337
+ "w": 0.1880505142342799,
338
+ "xyz": [
339
+ -0.7380222667281918,
340
+ -0.17653890309396103,
341
+ -0.6235336026261824
342
+ ]
343
+ }
344
+ },
345
+ "grasp_34": {
346
+ "confidence": 0.930224597454071,
347
+ "position": [
348
+ -0.0852959742769599,
349
+ -0.0867043769248994,
350
+ -0.012616956839337945
351
+ ],
352
+ "orientation": {
353
+ "w": 0.4544254986236578,
354
+ "xyz": [
355
+ -0.6071465490866427,
356
+ -0.20783537894613224,
357
+ -0.6177985022571183
358
+ ]
359
+ }
360
+ },
361
+ "grasp_35": {
362
+ "confidence": 0.9284729361534119,
363
+ "position": [
364
+ -0.025242967531085014,
365
+ -0.11292594282713253,
366
+ 0.008990981848910451
367
+ ],
368
+ "orientation": {
369
+ "w": 0.42000854954908495,
370
+ "xyz": [
371
+ -0.43171030590338877,
372
+ 0.5735619159595523,
373
+ 0.5551988460392222
374
+ ]
375
+ }
376
+ },
377
+ "grasp_36": {
378
+ "confidence": 0.9284367561340332,
379
+ "position": [
380
+ 0.03529041726142168,
381
+ 0.0073104763141600415,
382
+ 0.09070975403301418
383
+ ],
384
+ "orientation": {
385
+ "w": 0.23586801949422942,
386
+ "xyz": [
387
+ 0.6836470903598941,
388
+ -0.668033288507397,
389
+ -0.17528393727981345
390
+ ]
391
+ }
392
+ },
393
+ "grasp_37": {
394
+ "confidence": 0.9283725023269653,
395
+ "position": [
396
+ 0.003521159291267395,
397
+ -0.008994497198727913,
398
+ 0.1092486463021487
399
+ ],
400
+ "orientation": {
401
+ "w": 0.11423326539762091,
402
+ "xyz": [
403
+ -0.6605152487723924,
404
+ -0.7397088810145724,
405
+ 0.05917041966988536
406
+ ]
407
+ }
408
+ }
409
+ }
410
+ }
411
+ ],
412
+ "quality_check": {
413
+ "success": true,
414
+ "message": "YES"
415
+ }
416
+ }
dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f5e2d91271dccc05673f3b3505f707abb3c4d8927e9bcedb8b2a052ff1a8d17
3
+ size 3760572
dataset/bathroom_supplies/personal_care/090e0e3807d65d249d4d163dabe9fbca/razor_032.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>